CN105855783A - Pneumatic sliding table and control method and lubricating method thereof, and robot spot-welding system - Google Patents
Pneumatic sliding table and control method and lubricating method thereof, and robot spot-welding system Download PDFInfo
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- CN105855783A CN105855783A CN201610470641.2A CN201610470641A CN105855783A CN 105855783 A CN105855783 A CN 105855783A CN 201610470641 A CN201610470641 A CN 201610470641A CN 105855783 A CN105855783 A CN 105855783A
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- 238000003466 welding Methods 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000001050 lubricating effect Effects 0.000 title claims abstract description 8
- 230000003139 buffering effect Effects 0.000 claims description 23
- 230000000694 effects Effects 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 3
- 210000003437 trachea Anatomy 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000003247 decreasing effect Effects 0.000 abstract 1
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 239000002699 waste material Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910000679 solder Inorganic materials 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0461—Welding tables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
A pneumatic sliding table and a control method and lubricating method thereof, and a robot spot-welding system are provided. The pneumatic sliding table comprises a sliding table body, a base, linear guides, a cylinder and a cylinder buffer gas circuit, the linear guides are disposed on two sides of the base, the cylinder is arranged on the base, and the sliding table body is driven through a piston to linearly reciprocate along the linear guides; the cylinder buffer gas circuit is used to control the sliding table body to accelerate and decelerate. The invention also comprises a control method and lubricating method of the pneumatic sliding table, and a robot spot-welding system. Impact to the sliding table body can be greatly decreased, the service life of the sliding table body can be greatly prolonged, operating efficiency is high and time and labor efficient, disassembly and assembly are easy, and production place is saved.
Description
Technical field
The present invention relates to robotic welding technology field, particularly a kind of Pneumatic slid platform and control mode, lubricating system and Robot Spot Welding system.
Background technology
In prior art, the welding of component assembly each to automobile all uses artificial spot welding mode, the most manually holds the soldering turret of heaviness, carries out spot welding facing to the solder joint on workpiece, easily occur that spot welding position is inconsistent, quality is unstable, solder skip, the shortcoming such as is partially welded, and then occurs in that Robot Spot Welding system.But existing Robot Spot Welding system is fixed layout mostly, needs plural operator to operate, waste time and energy, be substantially reduced work efficiency.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency of prior art to provide a kind of time saving and energy saving, moving smooth and easy, location is quick, the Pneumatic slid platform of high life and control mode, lubricating system and Robot Spot Welding system, work efficiency can be greatly improved, shorten working hours.
The technical scheme is that
The one Pneumatic slid platform of the present invention, including slide unit body, base, line slideway, cylinder and cylinder cushion gas road, described line slideway is located at the both sides of base, and cylinder is located on base, is made the reciprocating motion of orthoscopic by piston driving slide unit body linearly guide rail；Described cylinder buffering gas circuit is used for controlling slide unit body and makees acceleration and deceleration motion, including the first electromagnetic valve, the second electromagnetic valve, 3 position-5 way electromagnetic valve, first throttle valve, second throttle, the 3rd choke valve and the 4th choke valve, and is made up of three gas circuits；Article 1, gas circuit is: described cylinder is connected with first throttle valve and second throttle, and first throttle valve and second throttle are connected with first passage and the second channel of 3 position-5 way electromagnetic valve respectively by trachea respectively；Described Article 2 gas circuit is: the first passage of 3 position-5 way electromagnetic valve is connected with first throttle valve, cylinder, the 3rd choke valve and the first electromagnetic valve successively also by pipeline；Described Article 3 gas circuit is: the second channel of 3 position-5 way electromagnetic valve is connected with second throttle, cylinder, the 4th choke valve and the second electromagnetic valve successively by pipeline.
Further, described first electromagnetic valve and the second electromagnetic valve are two-position two-way solenoid valve.
Further, described slide unit body has two, and each slide unit body includes bearing and the joint being located on bearing, is carried out the dismounting of fixture between two slide unit bodies by joint；Or described joint is provided with alignment pin.
Further, the two ends of described base are provided with hydraulic bjuffer.
Further, the inner side of described line slideway is provided with oil nozzle, and oil nozzle extends to the outside of base by oil filling pipeline.
A kind of control mode according to aforementioned Pneumatic slid platform of the present invention, moves and from target location to original position two kinds of working methods of motion to target location from original position including slide unit body；
The mode that described slide unit body moves to target location from original position comprises the following steps:
A: the first passage of the first electromagnetic valve and 3 position-5 way electromagnetic valve is energized so that the Article 1 gas circuit of cylinder buffering gas circuit turns on Article 2 gas circuit, and the piston of cylinder controls slide unit body under the effect of two-way air pressure and makees accelerated motion；
B: disconnecting the Article 1 gas circuit conducting of the first electromagnetic valve, only cylinder buffering gas circuit, the piston of cylinder controls slide unit body under the effect of a road air pressure and makees retarded motion；
C: disconnect 3 position-5 way electromagnetic valve, cylinder stopping action after slide unit body slides to target location；
The mode that described slide unit body moves to original position from target location comprises the following steps:
A ': the second channel of the second electromagnetic valve and 3 position-5 way electromagnetic valve is energized so that the Article 1 gas circuit of cylinder buffering gas circuit turns on Article 3 gas circuit, and the piston of cylinder controls slide unit body under the effect of two-way air pressure and makees accelerated motion；
B ': disconnecting the Article 1 gas circuit conducting of the second electromagnetic valve, only cylinder buffering gas circuit, the piston of cylinder controls slide unit body under the effect of a road air pressure and makees retarded motion；
C ': disconnect 3 position-5 way electromagnetic valve, cylinder stopping action after slide unit body slides to original position.
Further, described slide unit body tip buffering gross energy E is obtained by below equation:
E1=m×V²/2
E=E1+E2
In formula, V is the tip speed of slide unit body, and m is the quality of slide unit body, E1For the inertia energy of slide unit body, E2Remaining additional-energy for slide unit body.
Further, maximal rate when described slide unit body makees accelerated motion is 0.3 ~ 0.5m/s, and the time of boost phase is 2 ~ 4s, and the time in decelerating phase is 2 ~ 4s.
A kind of lubricating system according to aforementioned Pneumatic slid platform of the present invention, it is characterised in that drip 2 ~ 5 oil drippings by oil filling pipeline in line slideway through oil nozzle after slide unit body moves back and forth five times.
The one Robot Spot Welding system of the present invention, including two set work stations, spot welding robot and system control cabinet, often work station is provided with spot welding fixture (SWFX) to set, spot welding fixture (SWFX) is arranged on aforesaid Pneumatic slid platform, and spot welding fixture (SWFX) can slide under the drive of Pneumatic slid platform；Described spot welding robot is located between two set work stations, and whole system is controlled operation by system control cabinet.
Further, it is distributed in H type between described two set work stations and spot welding robot.
Beneficial effects of the present invention:
(1) production efficiency can be improved, save the waiting time of spot welding robot；
(2) operator need not the most mobile, is substantially reduced labor intensity, improves efficiency simultaneously；
(3) H type compact layout and structure, saves production site；
(4) reduce operator, reduce cost of labor；Native system only needs people's operation, and prior art needs two people mostly；
(5) it is substantially reduced the impulsive force of slide unit body, improves the service life of slide unit body；
(6) cylinder control startup slide unit reciprocation time is short, saves the working time；
(7) ensure that slide unit body moves the most swimmingly, both do not resulted in the waste of source of the gas, be greatly saved cost, improve again work efficiency；
(8) joint on slide unit body can Quick-positioning clamp, and easy accessibility.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment of the present invention Pneumatic slid platform；
Fig. 2 is the structure enlarged diagram in embodiment illustrated in fig. 1 I portion；
Fig. 3 is the schematic block diagram of the first passage conducting of 3 position-5 way electromagnetic valve in embodiment of the present invention cylinder buffering gas circuit.
Detailed description of the invention
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
As shown in Fig. 1 ~ Fig. 3: a kind of Pneumatic slid platform, including slide unit body 1, base 2, line slideway 3, cylinder 4 and cylinder cushion gas road 5, described line slideway 3 is located at the both sides of base 2, and cylinder 4 is located on base 2, is made the reciprocating motion of orthoscopic by piston driving slide unit body 1 linearly guide rail 3；Cylinder buffering gas circuit is used for controlling slide unit body 1 and makees acceleration and deceleration motion, including first electromagnetic valve the 51, second electromagnetic valve 52,3 position-5 way electromagnetic valve 53, first throttle valve 54, second throttle the 55, the 3rd choke valve 56 and the 4th choke valve 57, and it is made up of three gas circuits；Article 1, gas circuit is: cylinder 4 is connected with first throttle valve 54 and second throttle 55, and first throttle valve 54 and second throttle 55 are connected with first passage 531 and the second channel 532 of 3 position-5 way electromagnetic valve 53 respectively by trachea respectively；Article 2 gas circuit is: the first passage 531 of 3 position-5 way electromagnetic valve 53 is connected with first throttle valve 54, cylinder the 4, the 3rd choke valve 56 and the first electromagnetic valve 51 successively also by pipeline；Article 3 gas circuit is: the second channel 532 of 3 position-5 way electromagnetic valve 53 is connected with second throttle 55, cylinder the 4, the 4th choke valve 57 and the second electromagnetic valve 52 successively by pipeline.
Specifically, the first electromagnetic valve 51 and the second electromagnetic valve 52 are two-position two-way solenoid valve.Slide unit body 1 has two, and each slide unit body 1 includes bearing 11 and the joint 12 being located on bearing 11, is carried out the dismounting of fixture 6 between two slide unit bodies 1 by joint 12；Joint 12 is provided with alignment pin；The two ends of base 2 are provided with hydraulic bjuffer 7.Wherein, the distance being used between placing clamp 6, and two slide unit bodies 1 between two slide unit bodies 1 is not fixing, is applicable to different size fixture 6, and interchangeability is good.Joint 12 on slide unit body 1 is flexible joint, and upper and lower, the left and right of fixture 6 and front and back position can be carried out spacing by the alignment pin on joint 12, and easy accessibility, time saving and energy saving.Hydraulic bjuffer 7 moves to the impulsive force suffered by extreme position for snubber slide playscript with stage directions body 1.
The present embodiment limits the distance between two slide unit bodies 1 by the length of fixture 6, two slide unit bodies 1 are driven to slide by the reciprocating motion of cylinder 4 upper piston, and slide unit body 1 is by being located at the slide block bottom bearing 11 so that it is can smooth and easy movement on line slideway 3.The cylinder 4 of the present embodiment is Rodless cylinder, is located at the middle part of base 2, and cylinder 4 has a certain distance to the two ends of base 2.If slide unit body 1 does not also arrive target location, and one of them slide unit body 1 is when running to the extreme position of piston, then another slide unit body 1 is certain also on the piston movement route of cylinder 4, can be slided by this slide unit body 1 of piston driving, be pushed into target location by the slide unit body 1 linearly guide rail 3 another being on piston extreme position by means of the thrust on fixture 6.It is used on fixture 6 clamping part 8.
The inventive concept of the present embodiment is: when slide unit body 1 runs to end (end is the reciprocating extreme position of slide unit body), by bigger impact, thus slide unit body 1 can be caused damage, be substantially reduced the service life of slide unit body 1.Slide unit body 1 is caused the concrete reason of greater impact to be analyzed as follows by inventor:
Tip speed V=0.4m/s of the present embodiment slide unit body 1, slide unit this weight m=1000kg, N=1.1 time/min of number of shocks, the inertia energy E of slide unit body 11=m×V²/2=1000×0.4²/2=80J；Remaining additional-energy E of slide unit body 12For 21J；Thus it is calculated slide unit body 1 end buffering gross energy E=E1+E2=80+21=101J。
Need to buffer energy demand 101J by engineering calculation slide unit body 1 end, and if add the selected hydraulic bjuffer 7 in the present embodiment, it absorbs energy and also only has 70J, less than being actually needed, therefore can not meet actual demand.
Therefore, the treatment measures of the present embodiment are the increase in a set of cylinder buffering gas circuit 5, by pneumatic control, cylinder action are divided into fast phase, two parts of decelerating phase, to reduce the inertia energy E of slide unit body tip1, make gross energy E ＜ 70J.
And the addition of cylinder buffering gas circuit 5 is it is also possible that hydraulic bjuffer 7 is not essential.
According to above-mentioned analysis, the control mode of the present embodiment Pneumatic slid platform, specifically include slide unit body 1 and move and from target location to original position two kinds of working methods of motion to target location from original position；
The mode that described slide unit body 1 moves to target location from original position comprises the following steps:
A: first passage 531 coil electricity to the first electromagnetic valve 51 and 3 position-5 way electromagnetic valve 53, the Article 1 gas circuit making cylinder buffering gas circuit 5 turns on Article 2 gas circuit, the gas of source of the gas enters in cylinder, and the piston of cylinder 4 controls slide unit body 1 under the effect of two-way air pressure and makees accelerated motion；
B: disconnecting the Article 1 gas circuit conducting of the first electromagnetic valve 51, only cylinder buffering gas circuit 5, the piston of cylinder 4 controls slide unit body 1 under the effect of a road air pressure and makees retarded motion；
C: disconnecting 3 position-5 way electromagnetic valve 53 after slide unit body 1 slides to target location, cylinder 4 stops action；
The mode that described slide unit body 1 moves to original position from target location comprises the following steps:
A ': second channel 532 coil electricity to the second electromagnetic valve 52 and 3 position-5 way electromagnetic valve 53 so that the Article 1 gas circuit of cylinder buffering gas circuit 5 turns on Article 3 gas circuit, and the piston of cylinder 4 controls slide unit body 1 under the effect of two-way air pressure and makees accelerated motion；
B ': disconnecting the Article 1 gas circuit conducting of the second electromagnetic valve 52, only cylinder buffering gas circuit 5, the piston of cylinder 4 controls slide unit body 1 under the effect of a road air pressure and makees retarded motion；
C ': disconnecting 3 position-5 way electromagnetic valve 53 after slide unit body 1 slides to original position, cylinder 4 stops action.
The cylinder buffering gas circuit 5 of the present embodiment is applicable to the end buffering of big stroke cylinder.Maximal rate when slide unit body 1 makees accelerated motion in the present embodiment is 0.4m/s, the time of boost phase is 4s, decelerating phase reduces speed now to speed from 0.4m/s, time is also 4s, so making bonding force acting is 0, make gross energy E ＜ 70J, greatly reduce the impulsive force of slide unit body 1, improve the service life of slide unit body 1.
The choke valve of the present embodiment is for carrying out flow-control to electromagnetic valve corresponding thereto, to meet the speed of the present embodiment and needed for the time.
In the present embodiment, the inner side of line slideway 3 is provided with oil nozzle, and oil nozzle extends to the outside of base 1 by oil filling pipeline.Owing to the oil nozzle of ready-made line slideway 3 is all provided at inside it, extremely inconvenient during lubrication.Therefore, oil nozzle, for the ease of oiling, is caused outside by oil filling pipeline by the present embodiment.Further, since the description that line slideway is given according to producer, it is indicated that every three months lubricates once, but in practical operation, due to the impact of workshop adverse circumstances, line slideway 3 can produce substantial amounts of dust etc., cause the blocking of slide unit body frequency, push away motionless or motion and have some setbacks.Many experiments through inventor, draw the best results being dripped 3 oil drippings after slide unit body 1 moves back and forth five times by oil filling pipeline through oil nozzle in line slideway 3, so ensure that slide unit body 1 moves the most swimmingly, both the waste of source of the gas had not been resulted in, it is greatly saved cost, improves again work efficiency.
In the present embodiment, it is also possible to aforesaid Pneumatic slid platform is applied in Robot Spot Welding system.Robot Spot Welding system includes two set work stations, spot welding robot and system control cabinet, and often work station is provided with spot welding fixture (SWFX) to set, spot welding fixture (SWFX) is arranged on aforesaid Pneumatic slid platform, and spot welding fixture (SWFX) can slide under the drive of Pneumatic slid platform；Spot welding robot is located between two set work stations, and whole system is controlled operation by system control cabinet.
nullThe spot welding system of the present embodiment is double，I.e. two set work stations represent A station and B station respectively，The original position of aforesaid Pneumatic slid platform is operating position，Target location is welding position，Operator first on the operating position of A station by part on spot welding fixture (SWFX) assembled complete，Then the start button on system control cabinet is pressed，Pneumatic slid platform slides into the welding position of A station，A station part is welded by spot welding robot，Part is now carried out assembly on the spot welding fixture (SWFX) of B station manipulation position by operator，Reservation start button is pressed after completing，Pneumatic slid platform slides into the welding position of B station，Deng spot welding robot weld forward to after A station completes B station welding，A station pneumatic slide unit slides out to operating position，Artificial inloading part piece installing，Then the workpiece that welding completes is passed to next process，Repeat above circulation.
The present embodiment is stated and is distributed in H type between two set work stations and spot welding robot, can be greatly saved site area.It addition, the spot welding robot of the present embodiment can be one, it is also possible to be two, during according to two, it is possible to the part on A station and B station is welded, be greatly improved productive temp, shorten working hours simultaneously.
The present embodiment has the advantage that
(1) production efficiency can be improved, save the waiting time of spot welding robot；
(2) operator need not the most mobile, is substantially reduced labor intensity, improves efficiency simultaneously；
(3) H type distribution form is compact, saves production site；
(4) reduce operator, reduce cost of labor；Native system only needs people's operation, and prior art needs two people mostly；
(5) it is substantially reduced the impulsive force of slide unit body, improves the service life of slide unit body；
(6) cylinder control startup slide unit body reciprocation time is short, saves the working time；
(7) ensure that slide unit body moves the most swimmingly, both do not resulted in the waste of source of the gas, be greatly saved cost, improve again work efficiency；
(8) joint on slide unit body can Quick-positioning clamp, and easy accessibility.
These are only the preferred embodiments of the present invention, be not limited to the present invention, it is clear that those skilled in the art can carry out various change, modification without departing from the spirit and scope of the present invention to the present invention.If these amendments and modification to the present invention belong within the scope of the claims in the present invention and equivalent technologies thereof, belong to protection scope of the present invention.
Claims (10)
1. a Pneumatic slid platform, it is characterized in that, including slide unit body, base, line slideway, cylinder and cylinder cushion gas road, described line slideway is located at the both sides of base, cylinder is located on base, is made the reciprocating motion of orthoscopic by piston driving slide unit body linearly guide rail；Described cylinder buffering gas circuit is used for controlling slide unit body and makees acceleration and deceleration motion, including the first electromagnetic valve, the second electromagnetic valve, 3 position-5 way electromagnetic valve, first throttle valve, second throttle, the 3rd choke valve and the 4th choke valve, and is made up of three gas circuits；Article 1, gas circuit is: described cylinder is connected with first throttle valve and second throttle, and first throttle valve and second throttle are connected with first passage and the second channel of 3 position-5 way electromagnetic valve respectively by trachea respectively；Described Article 2 gas circuit is: the first passage of 3 position-5 way electromagnetic valve is connected with first throttle valve, cylinder, the 3rd choke valve and the first electromagnetic valve successively also by pipeline；Described Article 3 gas circuit is: the second channel of 3 position-5 way electromagnetic valve is connected with second throttle, cylinder, the 4th choke valve and the second electromagnetic valve successively by pipeline.
Pneumatic slid platform the most according to claim 1, it is characterised in that described first electromagnetic valve and the second electromagnetic valve are two-position two-way solenoid valve.
Pneumatic slid platform the most according to claim 1 and 2, it is characterised in that described slide unit body has two, each slide unit body is included bearing and the joint being located on bearing, is carried out the dismounting of fixture between two slide unit bodies by joint；Or described joint is provided with alignment pin.
Pneumatic slid platform the most according to claim 1 and 2, it is characterised in that the two ends of described base are provided with hydraulic bjuffer.
Pneumatic slid platform the most according to claim 1 and 2, it is characterised in that the inner side of described line slideway is provided with oil nozzle, oil nozzle extends to the outside of base by oil filling pipeline.
6. the control mode according to Pneumatic slid platform described in any one of claim 1 ~ 5, it is characterised in that include that slide unit body moves and from target location to original position two kinds of working methods of motion to target location from original position；
The mode that described slide unit body moves to target location from original position comprises the following steps:
A: the first passage of the first electromagnetic valve and 3 position-5 way electromagnetic valve is energized so that the Article 1 gas circuit of cylinder buffering gas circuit turns on Article 2 gas circuit, and the piston of cylinder controls slide unit body under the effect of two-way air pressure and makees accelerated motion；
B: disconnecting the Article 1 gas circuit conducting of the first electromagnetic valve, only cylinder buffering gas circuit, the piston of cylinder controls slide unit body under the effect of a road air pressure and makees retarded motion；
C: disconnect 3 position-5 way electromagnetic valve, cylinder stopping action after slide unit body slides to target location；
The mode that described slide unit body moves to original position from target location comprises the following steps:
A ': the second channel of the second electromagnetic valve and 3 position-5 way electromagnetic valve is energized so that the Article 1 gas circuit of cylinder buffering gas circuit turns on Article 3 gas circuit, and the piston of cylinder controls slide unit body under the effect of two-way air pressure and makees accelerated motion；
B ': disconnecting the Article 1 gas circuit conducting of the second electromagnetic valve, only cylinder buffering gas circuit, the piston of cylinder controls slide unit body under the effect of a road air pressure and makees retarded motion；
C ': disconnect 3 position-5 way electromagnetic valve, cylinder stopping action after slide unit body slides to original position.
The control mode of Pneumatic slid platform the most according to claim 6, it is characterised in that described slide unit body tip buffering gross energy E is obtained by below equation:
E1=m×V²/2
E=E1+E2
In formula, V is the tip speed of slide unit body, and m is the quality of slide unit body, E1For the inertia energy of slide unit body, E2Remaining additional-energy for slide unit body.
8. according to the control mode of Pneumatic slid platform described in claim 6 or 7, it is characterised in that maximal rate when described slide unit body makees accelerated motion is 0.3 ~ 0.5m/s, the time of boost phase is 2 ~ 4s, and the time in decelerating phase is 2 ~ 4s.
9. the lubricating system of a Pneumatic slid platform according to claim 5, it is characterised in that drip 2 ~ 5 oil drippings by oil filling pipeline in line slideway through oil nozzle after slide unit body moves back and forth five times.
10. a Robot Spot Welding system, including two set work stations, spot welding robot and system control cabinet, it is characterized in that, often work station is provided with spot welding fixture (SWFX) to set, spot welding fixture (SWFX) is arranged on the Pneumatic slid platform as described in any one of claim 1 ~ 5, and spot welding fixture (SWFX) can slide under the drive of Pneumatic slid platform；Described spot welding robot is located between two set work stations, and whole system is controlled operation by system control cabinet.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610470641.2A CN105855783B (en) | 2016-06-27 | 2016-06-27 | A kind of Pneumatic slid platform and its control method, lubricating method and Robot Spot Welding system |
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| CN201610470641.2A CN105855783B (en) | 2016-06-27 | 2016-06-27 | A kind of Pneumatic slid platform and its control method, lubricating method and Robot Spot Welding system |
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| CN108817799A (en) * | 2018-06-30 | 2018-11-16 | 湖北大帆汽车零部件有限公司 | A kind of automobile frock clamp |
| CN108907554A (en) * | 2018-06-30 | 2018-11-30 | 湖北大帆汽车零部件有限公司 | A kind of automobile longitudinal girder Movable clamp |
| CN108942032A (en) * | 2018-06-30 | 2018-12-07 | 湖北大帆汽车零部件有限公司 | A kind of automobile longitudinal girder welded platform |
| CN110871437A (en) * | 2020-01-19 | 2020-03-10 | 广东电网有限责任公司东莞供电局 | Spacing adjusting device of manipulator |
| CN111168268A (en) * | 2020-02-13 | 2020-05-19 | 河南科技大学 | Electric spark deposition contact force control device with damping function |
| WO2023240988A1 (en) * | 2022-06-14 | 2023-12-21 | 珠海格力智能装备有限公司 | Control method, apparatus and system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108817799A (en) * | 2018-06-30 | 2018-11-16 | 湖北大帆汽车零部件有限公司 | A kind of automobile frock clamp |
| CN108907554A (en) * | 2018-06-30 | 2018-11-30 | 湖北大帆汽车零部件有限公司 | A kind of automobile longitudinal girder Movable clamp |
| CN108942032A (en) * | 2018-06-30 | 2018-12-07 | 湖北大帆汽车零部件有限公司 | A kind of automobile longitudinal girder welded platform |
| CN108817799B (en) * | 2018-06-30 | 2021-04-02 | 湖北大帆汽车零部件有限公司 | Automobile tooling clamp |
| CN110871437A (en) * | 2020-01-19 | 2020-03-10 | 广东电网有限责任公司东莞供电局 | Spacing adjusting device of manipulator |
| CN111168268A (en) * | 2020-02-13 | 2020-05-19 | 河南科技大学 | Electric spark deposition contact force control device with damping function |
| WO2023240988A1 (en) * | 2022-06-14 | 2023-12-21 | 珠海格力智能装备有限公司 | Control method, apparatus and system |
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